Singularity avoidance based on avoiding joint velocity limits for redundant manipulators

摘要

Redundant robots are characterized by dexterity, to overcome the difficulty of calculation when traditional manipulability is used for dexterity control, the paper researches the inner relation and contradictory conflict of the unity which consists of joint geometrical positions, orientations and joint velocities. A new idea to improve the weighted manipulability ellipsoid by optimizing joint velocities is presented thus geometrical position and orientation of the robot may be indirectly optimized by means of the feedback of joint velocities. Simulation verifies this scheme is very useful for real time control because of its simple arithmetic.